Regular Papers

International Journal of Control, Automation and Systems 2012; 10(5): 1064-1069

Published online September 30, 2012

https://doi.org/10.1007/s12555-012-0525-z

© The International Journal of Control, Automation, and Systems

The Research of Adaptive Sliding Mode Controller for Motor Servo System Using Fuzzy Upper Bound on Disturbances

Xiaodong Liu, Yunjie Wu, and Baiting Liu

Beihang University

Abstract

Considering sliding mode control (SMC) method using the estimation of upper bound on disturbances in motor servo system, if the upper bound is underestimated, the position tracking precision is poor. Contrarily, the control input is overlarge and even chatters violently. To solve the above problems, an adaptive sliding mode controller (ASMC) is proposed. It utilizes a fuzzy decision maker (FDM), which exports the estimation of upper bound on disturbances according to the information of position tracking error and control input. The computer simulations on a dc motor present that the proposed method guarantees satisfactory position tracking accuracy and the chattering at control input is evidently suppressed. Moreover, the output of FDM is sensitive to the changes of disturbances real-timely and precisely. Subsequently, the proposed scheme possesses strong robust performance against disturbances in motor servo system.

Keywords Adaptive control, chattering suppression, fuzzy control, servo motor, sliding mode control.

Article

Regular Papers

International Journal of Control, Automation and Systems 2012; 10(5): 1064-1069

Published online October 1, 2012 https://doi.org/10.1007/s12555-012-0525-z

Copyright © The International Journal of Control, Automation, and Systems.

The Research of Adaptive Sliding Mode Controller for Motor Servo System Using Fuzzy Upper Bound on Disturbances

Xiaodong Liu, Yunjie Wu, and Baiting Liu

Beihang University

Abstract

Considering sliding mode control (SMC) method using the estimation of upper bound on disturbances in motor servo system, if the upper bound is underestimated, the position tracking precision is poor. Contrarily, the control input is overlarge and even chatters violently. To solve the above problems, an adaptive sliding mode controller (ASMC) is proposed. It utilizes a fuzzy decision maker (FDM), which exports the estimation of upper bound on disturbances according to the information of position tracking error and control input. The computer simulations on a dc motor present that the proposed method guarantees satisfactory position tracking accuracy and the chattering at control input is evidently suppressed. Moreover, the output of FDM is sensitive to the changes of disturbances real-timely and precisely. Subsequently, the proposed scheme possesses strong robust performance against disturbances in motor servo system.

Keywords: Adaptive control, chattering suppression, fuzzy control, servo motor, sliding mode control.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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